version: 66.04
glider: 136
mission: 3
dive: 17
start: 6 18 109 9 41 39
data:
$ID,136
$MISSION,3
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,67
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51492
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,24.5
$TGT_DEFAULT_LON,57.5
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-78911.938
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3155
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,45
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3598
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-2.3875301
$PRESSURE_SLOPE,0.0001163524
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.3
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043112189
$SEABIRD_T_H,0.00063089712
$SEABIRD_T_I,2.4176574e-05
$SEABIRD_T_J,2.6117627e-06
$SEABIRD_C_G,-10.042094
$SEABIRD_C_H,1.1112094
$SEABIRD_C_I,-0.00092196499
$SEABIRD_C_J,0.00016575911
$GPS1,093446,4806.967,-12222.982,8,2.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.8
$GPS2,094046,4806.963,-12222.983,10,2.7,29,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.158
$KALMAN_X,-756.1,158.1,3.6,154.2,141.2
$KALMAN_Y,2948.1,-310.9,84.2,-2751.2,-156.1
$MHEAD_RNG_PITCHd_Wd,305.1,2295,-16.7,-7.463
$D_GRID,105
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.23,-97.3,0.0,0.0,0,104,0.00,0.00,-86.75,0.000,2,0.000,0.000,674,2335,3609
$GC,108,-1.23,-97.3,3.2,-3.0,15,139,12.27,2.88,-10.25,0.000,4,0.144,0.058,2879,774,3962
$GC,393,-1.23,-97.3,23.1,-8.7,65,400,0.00,2.80,0.00,0.000,6,0.000,0.038,2879,2346,3963
$GC,469,-1.23,-97.3,29.7,-8.9,78,475,0.00,2.88,0.00,0.000,4,0.000,0.050,2879,767,3963
$GC,599,-1.23,-97.3,42.0,-9.6,101,605,0.00,2.83,0.00,0.000,6,0.000,0.039,2879,2349,3964
$GC,740,-1.23,-97.3,55.1,-9.2,126,747,0.00,2.85,0.00,0.000,4,0.000,0.050,2879,3926,3964
$GC,769,-1.23,-97.3,57.7,-9.1,131,776,0.00,2.75,0.00,0.000,6,0.000,0.030,2878,2340,3965
$GC,911,-1.23,-97.3,70.3,-8.7,156,917,0.00,2.88,0.00,0.000,4,0.000,0.054,2879,770,3964
$GC,957,-1.23,-97.3,74.5,-9.5,164,963,0.00,2.85,0.00,0.000,6,0.000,0.042,2879,2353,3964
$GC,1098,-1.23,-97.3,86.9,-9.0,189,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2353,3965
$GC,1239,-1.23,-97.3,99.3,-8.6,214,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2353,3964
$STATE,1309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1317,-0.33,0.0,105.4,9.0,227,1392,0.95,0.00,69.62,0.878,6,0.085,0.000,3073,1851,3598
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1395,1.23,97.3,108.4,0.0,241,1482,1.60,3.12,74.45,0.859,4,0.056,0.068,3418,270,3201
$GC,1535,1.23,101.3,101.7,7.3,266,1547,0.00,2.88,4.60,0.583,6,0.000,0.041,3418,1856,3185
$GC,1685,1.24,103.9,90.6,7.3,292,1697,0.00,2.92,3.90,0.529,4,0.000,0.051,3418,3435,3174
$GC,1748,1.24,103.9,85.7,7.8,303,1754,0.00,2.83,0.00,0.000,6,0.000,0.037,3418,1852,3174
$GC,1890,1.25,113.2,75.6,7.0,328,1902,0.00,0.00,8.73,0.736,6,0.000,0.000,3418,1852,3136
$GC,2037,1.25,116.9,65.1,7.3,354,2044,0.00,0.00,4.50,0.586,6,0.000,0.000,3418,1852,3121
$GC,2179,1.26,124.5,54.7,7.1,379,2192,0.00,3.10,7.53,0.710,4,0.000,0.067,3418,262,3090
$GC,2221,1.26,124.5,51.5,7.9,386,2227,0.00,2.88,0.00,0.000,6,0.000,0.038,3418,1861,3090
$GC,2363,1.27,131.7,41.4,7.1,411,2375,0.00,2.95,6.97,0.698,4,0.000,0.049,3418,3445,3061
$GC,2400,1.28,136.4,38.9,7.2,417,2413,0.00,2.85,5.30,0.629,6,0.000,0.038,3419,1849,3042
$GC,2482,1.28,141.0,32.8,7.2,431,2490,0.05,0.00,5.45,0.640,6,0.084,0.000,3441,1849,3023
$GC,2558,1.28,141.0,26.7,8.1,444,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1850,3022
$GC,2632,1.28,141.0,20.7,8.0,457,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1849,3022
$GC,2706,1.28,141.0,14.8,7.9,470,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1849,3022
$GC,2780,1.28,141.0,9.2,7.6,483,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1849,3022
$GC,2854,1.30,157.6,4.2,6.6,496,2869,0.00,0.77,11.55,0.758,3,0.000,0.041,3441,2277,2955
$STATE,2870,end climb,SURFACE_DEPTH_REACHED
$STATE,2870,begin surface coast
$FINISH,2.9,1.019741
$STATE,2954,end surface coast,CONTROL_FINISHED_OK
$STATE,2954,begin surface
$SM_CCo,2977,219.40,0.821,0,0,1315,560.02
$SM_GC,1.74,0.00,0.00,219.40,0.000,0.000,0.821,673,2358,1315,-11.42,0.23,560.02
$IRIDIUM_FIX,4751.72,-12340.51,120998,080801
$TT8_MAMPS,0.03068
$HUMID,1810
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,177.20
$XPDR_PINGS,0
$24V_AH,23.3,2.169
$10V_AH,10.8,1.306
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.375,48.050,202.600,219.400,0.000,24.531,28.649,177.779,0.000,0.000,0.000,32.289,780.159,1017.836,532.639,874.912,364.876,33.342,992.362,0.000,849.857,0.000,0.539,0.000
$DEVICE_MAMPS,144.196,68.263,878.215,820.690,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.384,338.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22176,513
$CAP_FILE_SIZE,54866,0
$CFSIZE,260165632,258338816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,103604,4807.098,-12223.129,10,99.0,29,18.3